version: 66.13
glider: 196
mission: 14
dive: 324
start: 9 13 117 10 3 3
data:
$ID,196
$MISSION,14
$DIVE,324
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,480
$D_ABORT,650
$D_NO_BLEED,50
$D_BOOST,100
$T_BOOST,4
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,160
$T_MISSION,195
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.050000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.028
$MASS,55566
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0031999999
$HD_B,0.0103
$HD_C,1.06e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,7100
$TGT_DEFAULT_LON,-14430
$TGT_AUTO_DEFAULT,0
$SM_CC,702.78448
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,208
$PITCH_MAX,3950
$C_PITCH,2580
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,38
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,218
$ROLL_MAX,3787
$ROLL_DEG,40
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,61
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3365
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00069999998
$VBD_PUMP_AD_RATE_SURFACE,1
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_NO_PUMP,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,0.60000002
$MAXI_10V,1.4
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-162.29706
$PRESSURE_SLOPE,0.00010687162
$AD7714Ch0Gain,1
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.75
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,7
$LOGGERDEVICE1,54
$LOGGERDEVICE2,135
$LOGGERDEVICE3,83
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,150
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,1125
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043055275
$SEABIRD_T_H,0.00061896152
$SEABIRD_T_I,2.1649632e-05
$SEABIRD_T_J,2.1628491e-06
$SEABIRD_C_G,-9.8804169
$SEABIRD_C_H,1.1388741
$SEABIRD_C_I,-0.0017082796
$SEABIRD_C_J,0.00021409935
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$CP_RECORDABOVE,1000.0
$CP_PROFILE,3.0
$CP_XMITPROFILE,0.0
$CP_UPLOADMAX,100000.0
$CP_STARTS,900.0
$CP_NDIVE,1.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,3.0
$PM_XMITPROFILE,0.0
$PM_NDIVE,1.0
$PM_XMITRAW,0.0
$PM_MOTORS,0.0
$PM_SENDDEPTH,0.0
$GPS1,130917,094740,7514.0513,-15109.8477,33,0.8,41,20.7,0.4,324.0,9,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-73.7
$GPS2,130917,100227,7514.1631,-15109.9131,7,0.9,16,20.7,0.6,100.6,9,9.8
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,DVLA
$TGT_LATLONG,7444.900,-15040.400
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,156.6,56071,-17.9,-10.000,-21.31,2227
$D_GRID,480
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,49,end surface,CONTROL_FINISHED_OK
$STATE,49,begin dive
$GC,52,-0.57,-145.9,162,2192,502,489,0.0,0.0,0,145,0.00,0.00,-91.45,0.000,16386,0.000,0.000,158,2192,2158,2085,2231,0,0,0,0,0,0,14.48,28.83,14.50
$GC,149,-0.57,-145.9,159,2192,2089,2231,4.2,-6.3,9,202,13.25,2.78,-33.58,0.000,18980,0.457,2.149,2384,800,3963,3950,3977,1,0,0,0,0,0,13.39,12.89,14.01
$GC,259,-0.74,-145.9,2385,800,3954,3979,33.8,-12.5,30,266,0.15,2.42,0.00,0.000,5254,0.106,0.086,2329,2157,3965,3953,3977,0,0,0,0,0,0,13.48,13.74,14.00
$GC,562,-0.78,-145.9,2329,2159,3955,3978,89.2,-14.7,61,567,0.00,2.60,0.00,0.000,388,0.000,0.087,2319,3622,3965,3954,3977,0,0,0,0,0,0,14.57,14.09,14.59
$GC,699,-0.92,-145.9,2320,3624,3955,3978,105.4,-10.9,88,706,0.12,2.38,0.00,0.000,5254,0.128,0.055,2263,2185,3966,3955,3977,0,0,0,0,0,0,14.21,14.16,14.32
$GC,1016,-0.92,-145.9,2263,2184,3954,3977,158.4,-16.0,101,1021,0.00,2.55,0.00,0.000,260,0.000,0.086,2253,3622,3969,3954,3985,0,0,0,0,0,0,14.63,14.12,14.64
$GC,1076,-1.01,-145.9,2252,3623,3955,3978,167.0,-13.0,113,1081,0.00,2.45,0.00,0.000,1158,0.000,0.058,2255,2194,3964,3952,3976,0,0,0,0,0,0,14.31,14.17,14.35
$GC,1406,-1.01,-145.9,2254,2193,3956,3977,216.6,-14.7,129,1411,0.00,2.53,0.00,0.000,260,0.000,0.085,2244,3619,3966,3955,3977,0,0,0,0,0,0,14.64,14.04,14.66
$GC,1456,-1.10,-145.9,2243,3620,3956,3977,223.8,-13.4,139,1461,0.00,2.42,0.00,0.000,1158,0.000,0.057,2244,2192,3965,3954,3977,0,0,0,0,0,0,14.16,14.03,14.20
$GC,1767,-1.12,-145.9,2244,2191,3955,3977,267.5,-13.6,151,1771,0.00,2.53,0.00,0.000,388,0.000,0.086,2236,3614,3966,3955,3977,0,0,0,0,0,0,14.65,14.11,14.66
$GC,1827,-1.23,-145.9,2236,3615,3955,3978,275.1,-11.7,163,1832,0.17,2.42,0.00,0.000,5254,0.112,0.057,2167,2199,3965,3954,3977,0,0,0,0,0,0,14.23,14.18,14.33
$GC,2157,-1.11,-145.9,2167,2199,3955,3978,338.1,-19.1,179,2162,0.20,2.50,0.00,0.000,2436,0.303,0.082,2202,3613,3965,3954,3977,0,0,0,0,0,0,13.65,13.97,13.84
$GC,2275,-1.16,-145.9,2202,3615,3955,3978,354.2,-12.4,202,2281,0.00,2.42,0.00,0.000,1158,0.000,0.057,2202,2191,3965,3954,3977,0,0,0,0,0,0,14.09,13.96,14.12
$GC,2578,-1.16,-145.9,2201,2189,3956,3977,396.1,-13.6,213,2583,0.00,2.53,0.00,0.000,260,0.000,0.087,2197,3614,3965,3954,3977,0,0,0,0,0,0,14.64,14.09,14.70
$GC,2648,-1.22,-145.9,2197,3615,3954,3978,405.3,-12.6,227,2653,0.00,2.40,0.00,0.000,1158,0.000,0.056,2195,2195,3965,3954,3977,0,0,0,0,0,0,14.30,14.17,14.34
$GC,2968,-1.22,-145.9,2197,2194,3955,3977,449.1,-13.6,241,2973,0.00,2.50,0.00,0.000,260,0.000,0.086,2187,3614,3965,3953,3977,0,0,0,0,0,0,14.65,14.10,14.66
$GC,3028,-1.26,-145.9,2188,3616,3954,3978,457.2,-13.0,253,3033,0.00,2.42,0.00,0.000,1158,0.000,0.056,2188,2189,3965,3953,3977,0,0,0,0,0,0,14.28,14.16,14.33
$STATE,3206,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3206,begin apogee
$GC,3212,-0.13,0.0,2189,2060,3954,3977,482.8,-14.3,264,3441,1.38,0.10,224.62,1.420,10246,0.239,0.158,2532,2124,3364,3378,3350,0,0,0,0,0,0,13.70,13.50,12.66
$STATE,3445,end apogee,CONTROL_FINISHED_OK
$STATE,3445,begin climb
$GC,3449,0.57,145.9,2532,2124,3372,3339,494.8,0.0,271,3677,0.73,2.50,213.77,1.363,10756,0.060,0.083,2781,731,2761,2792,2731,0,0,0,0,0,0,13.70,13.05,12.26
$GC,3769,0.17,145.9,2782,732,2787,2725,500.8,12.4,291,3774,0.70,2.47,0.00,0.000,5254,0.324,0.073,2641,2091,2754,2786,2723,0,0,0,0,0,0,13.15,13.51,13.54
$GC,4095,0.01,182.1,2640,2093,2787,2717,472.6,8.3,306,4156,0.22,0.00,54.03,1.398,12454,0.260,0.000,2589,2092,2615,2664,2567,0,0,0,0,0,0,13.78,13.91,13.09
$GC,4455,-0.00,229.1,2590,2092,2660,2551,444.8,7.8,318,4535,0.00,2.42,73.50,1.367,8868,0.000,0.085,2590,732,2427,2481,2373,0,0,0,0,0,0,14.57,13.96,13.12
$GC,4562,0.06,262.8,2590,733,2470,2369,436.2,8.4,339,4620,0.00,2.42,51.40,1.372,9382,0.000,0.079,2590,2106,2289,2340,2238,0,0,0,0,0,0,14.13,14.01,13.00
$GC,4938,0.12,288.0,2590,2108,2326,2218,403.1,8.8,364,4976,0.00,0.00,35.38,1.401,8870,0.000,0.000,2590,2106,2188,2237,2139,0,0,0,0,0,0,14.55,14.02,13.21
$GC,5297,0.20,316.4,2590,2106,2224,2123,371.4,8.7,381,5347,0.15,2.45,43.42,1.371,10916,0.114,0.086,2672,733,2068,2112,2025,0,0,0,0,0,0,14.31,14.07,13.18
$GC,5413,0.16,316.4,2671,734,2097,2020,356.1,13.3,404,5420,0.15,2.40,0.00,0.000,5254,0.246,0.079,2640,2101,2054,2091,2018,0,0,0,0,0,0,13.93,14.09,14.18
$GC,5718,0.16,316.4,2640,2102,2097,2010,320.2,11.4,415,5722,0.00,2.42,0.00,0.000,516,0.000,0.085,2640,726,2053,2096,2010,0,0,0,0,0,0,14.62,14.14,14.64
$GC,5753,0.19,316.4,2640,726,2096,2011,316.3,11.3,422,5757,0.00,2.40,0.00,0.000,1158,0.000,0.078,2640,2103,2052,2095,2010,0,0,0,0,0,0,14.34,14.21,14.39
$GC,6078,0.19,316.4,2641,2104,2096,2008,280.5,10.7,437,6079,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2104,2052,2095,2009,0,0,0,0,0,0,14.66,14.69,14.69
$GC,6378,0.20,329.4,2646,2101,2100,2007,251.1,9.4,447,6397,0.00,2.47,12.07,1.501,8740,0.000,0.086,2641,721,2018,2060,1976,0,0,0,0,0,0,14.68,14.23,13.30
$GC,6465,0.30,367.4,2641,724,2055,1975,243.8,8.2,464,6539,0.12,2.40,69.20,1.283,11430,0.126,0.078,2693,2103,1867,1896,1839,0,0,0,0,0,0,14.24,14.18,13.16
$GC,6860,0.27,367.4,2693,2105,1877,1823,197.2,11.3,493,6865,0.00,2.42,0.00,0.000,644,0.000,0.085,2698,729,1849,1876,1822,0,0,0,0,0,0,14.57,14.16,14.59
$GC,6895,0.27,367.4,2699,729,1875,1820,193.3,11.1,500,6901,0.00,2.40,0.00,0.000,1030,0.000,0.078,2699,2099,1848,1874,1822,0,0,0,0,0,0,14.26,14.12,14.29
$GC,7223,0.24,367.4,2699,2100,1875,1820,157.1,10.9,515,7228,0.15,2.45,0.00,0.000,4740,0.220,0.083,2661,732,1850,1880,1821,0,0,0,0,0,0,13.79,13.98,13.91
$GC,7289,0.39,425.8,2661,733,1873,1821,151.7,7.3,528,7405,0.15,2.42,107.80,1.194,11430,0.116,0.078,2718,2106,1626,1650,1602,0,0,0,0,0,0,14.14,14.07,13.11
$GC,7704,0.39,425.8,2719,2104,1643,1578,105.4,10.9,561,7708,0.00,2.45,0.00,0.000,516,0.000,0.085,2726,727,1611,1645,1577,0,0,0,0,0,0,14.40,14.00,14.42
$GC,7769,0.44,429.2,2727,727,1640,1577,98.6,9.8,574,7775,0.00,2.42,0.00,0.000,1190,0.000,0.078,2726,2098,1607,1638,1577,0,0,0,0,0,0,14.12,13.99,14.16
$GC,8074,0.47,476.9,2726,2102,1638,1575,70.3,7.8,605,8105,0.00,0.00,29.20,0.397,8230,0.000,0.000,2723,2101,1418,1457,1380,0,0,0,0,0,0,14.40,13.95,13.56
$GC,8404,0.64,586.9,2726,2101,1463,1385,48.8,4.9,638,8476,0.20,0.00,68.85,0.334,10406,0.092,0.000,2802,2100,970,1037,904,0,0,0,0,0,0,14.05,13.95,13.62
$GC,8774,0.78,685.7,2802,2101,1039,911,19.3,5.4,675,8842,0.00,2.53,63.17,0.249,8868,0.000,0.089,2802,734,565,604,526,0,0,0,0,0,0,14.39,13.98,13.71
$GC,8904,0.98,685.7,2803,734,607,528,9.4,10.0,700,8912,0.30,2.45,0.00,0.000,3206,0.080,0.076,2908,2108,568,609,527,0,0,0,0,0,0,14.07,14.00,14.14
$STATE,8964,end climb,SURFACE_DEPTH_REACHED
$STATE,8964,begin surface coast
$FINISH,0.5,1.021567
$STATE,8975,end surface coast,CONTROL_FINISHED_OK
$STATE,8975,begin surface
$SM_CCo,8999,11.85,0.195,0,0,498,702.78
$SM_GC,1.29,8.32,0.15,11.85,0.064,0.103,0.195,199,2233,498,-7.38,-0.82,702.78,0,0,0,0,0,0,14.14,14.18,13.85
$RAFOS_CLK,100
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7517.53,-15117.29,130917,070906
$TT8_MAMPS,0.086135,0.912282
$HUMID,44.01
$INTERNAL_PRESSURE,7.76199
$TCM_TEMP,13.20
$XPDR_PINGS,12
$CP_FREE,15934029824.000000
$PM_FREEKB_00,47571456
$24V_AH,12.26,199.411
$10V_AH,12.13,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,26.475,84.250,1046.425,11.850,0.000,0.000,0.000,595.350,3.000,0.000,17.145,0.000,6353.964,933.901,2272.382,353.582,0.000,2377.116,0.000,1016.791,2199.000,0.539,0.000
$DEVICE_MAMPS,457.470,2148.885,1500.930,195.075,0.000,0.000,0.000,179.010,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9006.000,8966.000,8946.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.308,20.000,10.317,0.000
$MEM,323412
$DATA_FILE_SIZE,23401,708
$CAP_FILE_SIZE,100892,0
$CFSIZE,2097872896,1995112448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
$SOUNDSPEED,1447.9
$CURRENT,0.042,90.04,1
$GPS,130917,123451,7512.865,-15109.927,49,0.7,50,20.7,0.0,96.1,12,9.7